Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
  • A61M37/00—Other apparatus for introducing media into the body; Percutany, i.e. introducing medicines into the body by diffusion through the skin
  • A61M37/0076—Tattooing apparatus
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
  • A61M2205/00—General characteristics of the apparatus
  • A61M2205/33—Controlling, regulating or measuring
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
  • A61M2205/00—General characteristics of the apparatus
  • A61M2205/50—General characteristics of the apparatus with microprocessors or computers
  • A61M2205/52—General characteristics of the apparatus with microprocessors or computers with memories providing a history of measured variating parameters of apparatus or patient

Definitions

• the present disclosure generally relates to needling machines, such as tattoo, permanent makeup, and microneedling machines, and control over the speed of, or power delivered to, a needle and impact force of the needle into skin.
• Embodiments of the present disclosure may include components manufactured from various materials based upon the contemplated use.
• materials that are durable, cleanable or autoclaveable, and sanitary are contemplated to be within the scope of the present disclosure.
• materials may be stainless steel, anodized aluminum, and/or polycarbonates.
• the present disclosure may address one or more of the problems and deficiencies of the prior art discussed above. However, it is contemplated that the disclosure may prove useful in addressing other problems and deficiencies in a number of technical areas. Therefore the claimed disclosure should not necessarily be construed as limited to addressing any of the particular problems or deficiencies discussed herein.
• a tattoo machine may be accomplished by electronic control of the power supplied from power source of the tattoo machine to the tattoo machine motor.
• Electronic give adjustment emulates and replaces a mechanical system within a needling machine.
• the power signal of rotary direct current machines generally follows a wave form, either where the electrical potential is held at a specific voltage and the current drawn by the motor fluctuates, or the current is held at a specific amperage and the voltage fluctuates.
• a direct current motor in a needling machine can be controlled either by its voltage, its current, or both.
• the electronic give control circuitry of the present disclosure first analyzes the particular power characteristics of a machine operating at a specific voltage set by a user to establish an average or baseline current.
• the voltage set by the user may define an upper voltage limit.
• a threshold current and lower voltage limit may then be established based on the power characteristics of the machine and voltage setting.
• the actual current drawn by the motor may then be continuously monitored, iteratively, to determine if the observed current is above or below the threshold current.
• the voltage When the observed current exceeds the threshold current for the first time, the voltage may be lowered slightly from the upper voltage limit. Further subsequent current readings above the threshold further reduce the operating voltage iteratively. The process continues until either the lower voltage limit is reached (and that voltage is maintained so long as the current exceeds the threshold), or the current falls below the threshold, at which point the electronic give circuitry then starts to increase the voltage slightly and iteratively depending on the prior observed current (no hysteresis) or more than one prior observed currents (hysteresis). In this way, the circuitry is sensitive to the history of the observed current, which determines whether and to what degree the operating voltage of the machine is adjusted, either up or down between the upper voltage limit and the lower voltage limit.
• a give response for a machine can also be varied by a plurality of give levels, each give level having its own threshold and rate of change to the observed current exceeding or falling below the threshold current. In this way, a range of give emulations are possible, ranging from “hard” give to “soft” give.
• FIG. 1 illustrates a flowchart of an embodiment of a method of controlling a needling machine.
• FIG. 2 illustrates a flowchart of another embodiment of a method of controlling a needling machine.
• FIG. 3 illustrates a flowchart of still a further embodiment of a method of controlling a needling machine.
• FIG. 4 illustrates the acquisition of a baseline current of a needling machine in an embodiment of needling machine electronic circuitry.
• FIG. 5 illustrates the acquisition of a baseline current of a needling machine in an alternative embodiment of needling machine electronic circuitry.
• FIG. 6 illustrates the relationship between a reference voltage and electrical current drawn by a needling machine motor in an embodiment of a needling machine electronic circuitry in which the give adjustment is off.
• FIGs. 7, 8, and 9 illustrate the relationship between a reference voltage and electrical current drawn by a needling machine motor in an embodiment of a needling machine electronic circuitry in which the give adjustment varies from 1 to 4 to 7, respectively.
• FIG. 10 illustrates the various states of voltage control exerted by the give control electronic circuitry over a needling machine according to the observed machine current in relationship to the baseline current and the threshold current.
• FIG. 11 depicts a table of data of an embodiment of an electronic needling machine control system illustrating the relationship between the reference voltage, give level, baseline current, and threshold current.
• FIG. 12 illustrates a physical configuration of an embodiment of a needling machine control system in which the electronic circuitry is housed together with the battery, and that combined battery-control system is reversibly electronically electable to a needling machine.
• FIG. 13 illustrates another physical configuration of an embodiment of a needling machine control system in which certain components of the system are housed within a wireless control unit, while other components of the system are housed on the wireless needling machine.
• FIG. 14 illustrates yet another physical configuration of an embodiment of a needling machine control system in which the electronic circuitry may be connected wirelessly with peripheral devices from a control unit, while controlling the needling machine by wire.
• FIG. 15 illustrates still yet a further physical configuration of an embodiment of a needling machine control system in which the entire system is self-contained.
• FIG. 16 illustrates another physical configuration of an embodiment of a needling machine control system in which the electronic circuitry is housed within the needling machine, while the power supply is detachable therefrom.
• FIG. 17 illustrates the physical configuration of an embodiment of a needling machine control system circuitry.
• Figure 18 is a schematic diagram of a machine in the form of a computer system within which a set of instructions, when executed, may cause the machine to perform any one or more of the methodologies or operations of the devices and methods for controlling needle reciprocation.
• components A, B, and C can consist of (i.e. , contain only) components A, B, and C, or can contain not only components A, B, and C, but also one or more other components or structures.
• the term about” when used in the context of a numeric figure may be defined to mean ⁇ 20% of the corresponding number(s).
• the term "at least” followed by a number is used herein to denote the start of a range beginning with that number (which may be a range having an upper limit or no upper limit, depending on the variable being defined). For example, “at least 1” means 1 or more than 1.
• the term “at most” followed by a number is used herein to denote the end of a range ending with that number (which may be a range having 1 or 0 as its lower limit, or a range having no lower limit, depending upon the variable being defined). For example, "at most 4" means 4 or less than 4.
• a range is given as "(a first number) to (a second number)" or "(a first number)-(a second number),” this means a range whose lower limit is the first number and whose upper limit is the second number.
• 25 to 100 mm means a range whose lower limit is 25 mm, and whose upper limit is 100 mm.
• a particular needling machine including its motor, needle cartridge, motion translation and other mechanical features, may have unique power requirements. And even within a particular machine setup, those power requirements can change depending on whether a user selects a different operating voltage with the same mechanical components, or changes mechanical components, such as changing to a different needle cartridge, machine grip, and/or other component.
• the electronic give circuitry establishes an average current drawn by the motor.
• the electric signal comprises a waveform
• several measurements of the current may be taken to identify the average current.
• about five observations of the current may be sufficient to establish the average current, and, in a preferred embodiment, ten observations over one cycle of the waveform may establish the average current. In other embodiments, any desired number of observations may be utilized to establish the average current.
• an incremental averaging process may be employed to establish the baseline average current.
• the electronic circuitry includes five current variables. The observed current and the first current variable are averaged, and the resulting value then becomes the first current variable. A second current variable is then averaged with the prior (now averaged) first current variable, and the resulting value then becomes the second current variable. A third current variable is then averaged with the prior (now averaged) second current variable and a fourth (not yet averaged in the current iteration) current variable. The average of those three values is then overwritten in the electronic circuitry and becomes the third current variable. In this way, the prior iteration of the averaging sequence is fed back into the present averaging iteration based on the observed current.
• the fourth current variable is then averaged with the prior (now averaged) third current variable, and the resulting value then becomes the fourth current variable.
• a fifth current variable is then averaged with the prior (now averaged) fourth current variable, and the resulting value then becomes the fifth current variable. This averaging process continues for each observed machine current for a minimum of five iterations. At the end of the iterations, the fifth (now fully iteratively averaged) variable is the final baseline current of the machine. In certain embodiments, other amounts of current variables may be used with the electronic circuitry.
• the averaging may be varied among the current variables.
• the feedback averaging may be included in the first current variable, with the prior iteration second variable together with the observed current.
• the other current variables may then follow the non-feedback averaging process.
• the number of iterations may be about thirty-two. In certain embodiments, the number of observed current averaging iterations may depend on the temporal resolution of the current sensor. In a preferred embodiment, about six periods each having about five observations may be utilized to establish the baseline current. In other embodiments, one full period of the waveform may be sufficient to establish the average current provided that there are a sufficient number of current observations over the waveform period. A sufficient number of current observations in a single waveform period may be between about five and ten. The system may establish the threshold current reasonably quickly, and therefore a maximum number of operational current values that are read during establishment of the baseline official currents may be about fifty.
• Biasing the current variables may further improve accuracy of the baseline current, or may allow for faster establishment of the baseline.
• the baseline current variables have a pre-set value of about eight-five milliamps.
• the baseline current may be established before the machine encounters the work surface (e.g. a user's skin or the skin of a client) so that the true baseline operational parameters of the machine can be determined.
• some embodiments may include incorporating and utilizing memory in the circuitry and component-identifying features that can determine the specific machine, specific power source, and/or other characteristics of a device’s setup, and/or the general make and model of component or machine, such that a previously-established baseline can either be recalled from memory without reestablishing the baseline, or the starting bias of the current variables can be adjusted for more rapid acquisition of the baseline.
• the baseline current may also reestablished by the electronic circuitry in response to specific triggering events.
• a user changing the reference voltage at which a machine operates may automatically result in the electronic circuitry reestablishing the baseline current.
• Turning the machine on (supplying power to the motor) may also result in immediately establishing the baseline.
• Changing the power source may also trigger the circuitry to reestablish a baseline, such as swapping a disconnectable discharged battery for a charged battery unit.
• a manual reset option may also be provided in the circuitry to allow a user to reestablish the baseline, such as when a more viscous ink or substance is applied to the needle.
• a needling machine may be set and its reciprocation speed adjusted according to a specific electrical potential or voltage. That reference voltage may be set by a user, and may also be the voltage at which the machine operates without any give control feedback or voltage adjustment. The reference voltage may also define the upper limit of a range of voltage at which the machine will operate when the electronic give control circuitry is triggered.
• a voltage error range may be provided in some embodiments to account for observational error of the observed voltage to prevent unwanted voltage fluctuation or adjustment.
• the reference voltage may further define a lower limit of the range of voltages at which the machine will operate with the electronic give control.
• the lower limit may be established as a percentage (or fraction) of the reference voltage. In some embodiments, the lower voltage limit may be about two-thirds of the reference voltage.
• the lower voltage limit may be another fraction of the reference voltage.
• the lower limit on the range of voltage may be established at an absolute number.
• the absolute lower limit of the voltage range is 4.5 V.
• the lower limit of the voltage range may be established by the greater of the percentage of the reference voltage or an absolute number.
• an operating voltage Separate from the reference voltage, which may be stored in a memory of the electronic circuitry, is an operating voltage.
• the operating voltage may define the voltage at which the machine will operate at a given moment in time depending on the historical current drawn by the motor of the needling machine.
• the operating voltage may be set in a voltage regulator within the electronic circuitry such that the electronic circuitry controls the provision of power from a power source to the machine motor.
• the electronic circuitry may also be configured to have one or more settings defining the parameters under which the electronic circuitry adjusts the voltage provided to the motor.
• the one or more settings is a give level.
• the give level may range from zero to seven, with zero representing no voltage adjustment (i.e. normal operation of the machine without give adjustment), one emulating a “hard” give, seven emulating a “soft” give, and the levels between one and seven ranging from the hardest give to the softest give.
• Some embodiments may include greater or fewer give levels.
• the give level range may range from zero to five or to any number.
• the give level may range from a number other than zero to any other desired number.
• the give level may be binary (on or off). In certain embodiments, the give levels may range from zero to about twenty.
• the electronic circuitry may establish a threshold current greater than the baseline current.
• the difference from the baseline current to the threshold current, DI may correspond to the give level selected.
• DI is the sum of five times the give level, plus about 42 milliamps (a variable stored in memory that may be identified as a GIVE_RANGE).
• DI may range from adding between about 30 milliamps and about 60 milliamps.
• DI may range from between about two to about ten times the give level.
• DI may be determined by a combination of a multiple of the give level plus a specific amount of current.
• the electronic circuitry continuously monitors the operational current drawn by the motor and evaluates the observed current against the threshold current. Where the current exceeds the threshold current, the electronic circuitry then may evaluate the operational voltage against the reference voltage. Where the observed machine current is below the threshold current, but the operational voltage is approximately equal to the reference voltage, no voltage adjustment may be made. Under these conditions, the machine may operate within the parameters defined by the reference voltage and give level set by the user, without any adjustment to the operational voltage. This operational state may be considered a maximum-power state where no give adjustment to the operational voltage is made. Where the observed machine current exceeds the threshold current and the operational voltage is above the lower voltage limit, the electronic circuitry may begin to incrementally decrease the operational voltage. This operational state may be considered a power-decrease state.
• a subsequent observed machine current above threshold results in a further incremental decrease in operational voltage. Where the observed current fluctuates around the threshold, little or no change to the operational voltage may result.
• This operational state may be considered a steady state.
• the electronic circuitry may begin to incrementally increase the operational voltage. This operational state may be considered a power-increase state. Subsequent observed machine current below the threshold results in a further incremental increase in operational voltage.
• a fifth operational state may exist where the electronic circuitry maintains the operational voltage at about the lower voltage limit as a result of continued operational current readings exceeding the threshold current. This may be considered a minimum-power state.
• the electronic circuitry may continuously and iteratively allow the machine to vary from state to state, depending on the observed current drawn by the motor and the operational voltage.
• the electronic circuitry may increase the degree to which the operational voltage is decremented upon subsequent observed machine currents exceeding the threshold, and similarly may increase the degree to which the operational voltage is incremented upon subsequent observed machine currents falling below the threshold. In this way, and in such embodiments, the electronic circuitry results in accelerated change of voltage the longer the observed machine current remains above or below the threshold over time. In other embodiments, the electronic circuitry may be configured to acceleratingly reduce the operational voltage, but provide a more rapid voltage recovery (increase) upon the machine current falling below the threshold.
• the electronic give circuitry may include a hysteretical evaluation of the degree to which the voltage is adjusted based on the history of prior observed current readings.
• the electronic circuitry may adjust the voltage only after at least two consecutive observations of current exceeding the threshold current.
• the circuitry may likewise only increase the voltage only after at least two consecutive observations of current being below the threshold current.
• Other embodiments may include no hysteresis, and instead the electronic circuitry may adjust the operational voltage immediately upon and observed current being above or below the threshold current, and further depending upon the operational voltage prior to making the adjustment (that is, the then-existing operational voltage prior to adjusting the voltage). For example, when the machine operating voltage is equal to the reference voltage, observed current below the baseline would not result in a change in operational voltage because the motor is already operating at the upper limit (reference) voltage.
• the electronic give circuitry may be housed within the machine, maintaining direct electrical contact with the motor, and disconnectable electrical contacts with a power supply. In other embodiments, the electronic give circuitry may be housed within a detachable battery pack, with disconnectable electrical contact with the motor. In still other embodiments, the majority of the electronic give circuitry may be housed within a power controller separate from the machine and power source, being in communication with a voltage regulator either within the machine or within the power source. In certain embodiments, the electronic give circuitry may be housed within any of the components of the machine, disconnectable components of the machine, or a combination thereof.
• the machine and/or the disconnectable components that may be connected to the machine may be configured to house any number of communications devices, such as, but not limited to, communications modules, radios, wireless chips, cellular chips, short-range wireless chips, long-range wireless chips, transceivers, any other type of communications device, or a combination thereof.
• the communications radio(s) and/or other communications devices may operate as both master or slave relative to the machine, disconnectable power sources, and other peripheral devices, such as a foot switch.
• any one or more of the steps may be performed by a processor of a needling device, tattoo machine, or a combination thereof.
• the one or more steps of the method may be performed be devices connectable to the needling device and/or tattoo machine.
• the steps of the method may be performed in the order as shown in FIG. 1 , however, in other embodiments, one or more steps may be performed in different orders with respect to each other.
• the method of FIG. 1 may be combined with any of the other methods described herein and may incorporate any of the functionality described in the present disclosure.
• the method may include establishing a threshold current and a voltage range for a needling machine.
• the method may proceed to step B, which may include comparing the observed operational current for the needling machine to the threshold current.
• the method may proceed to step C, which may include evaluating the operational voltage in comparison to the voltage range.
• the method may return to step B, and no adjustment to the operational voltage may be made.
• the method may proceed to step D, which may include adjusting the voltage downward from the then-existing operational voltage.
• the method may include, at step D, adjusting the voltage upward from the then existing operational voltage.
• the method may then return to step B and continue through the steps of the method.
• the steps of the method may be repeated continuously over time as the needling device and/or tattoo machine operates over time.
• FIG. 2 illustrates a flowchart depicting steps of an additional embodiment of the present disclosure.
• the method may include setting a reference voltage for a machine (e.g. needling machine, tattoo machine, etc.), and from that reference voltage establishing a minimum and maximum voltage for the machine.
• a user may set the reference voltage, however, in certain embodiments, the reference voltage may be set by one or more components of a needling machine and/or tattoo machine, such as, but not limited to, a processor of the needling machine and/or tattoo machine.
• a remote device communicatively linked to the needling machine and/or tattoo machine may set the reference voltage as well.
• the method may proceed to step 2, which may include establishing a threshold current based on a plurality of observed current values in the system (i.e. needling machine control system, other systems described herein, the tattoo machine, and/or needling machine) operating at the reference voltage.
• the method may include setting the operational voltage for the machine. Initially, the operational voltage may be set to the reference voltage. The method may proceed by monitoring the current and comparing the current to the threshold current in step 4. Subsequently, the operational voltage may be compared to the minimum and maximum voltages in step 5. When the operational current is below the threshold current, and the operational voltage is near the maximum voltage, the method may proceed back to step 4.
• the method may proceed to step 6, which may include adjusting the operational voltage either up or down, and then setting the new operational voltage at step 3.
• the method may continuously loop through steps 3 through 6 iteratively for each current observed by the system.
• the systems described in the present disclosure may perform any one or more of the steps of the method of FIG. 2.
• the operations may be method operations, system operations, or a combination thereof.
• the system may include a needle machine and/or tattoo machine configured to perform the operative steps of the method as well.
• the method may include setting a reference voltage and give level for a needling machine at step 1 A, those values being stored in a memory.
• the reference voltage may be set by a user, however, in certain embodiments, the reference voltage may be set via device or component communicatively linked to the needling machine.
• That reference voltage may then be set as the operational voltage at step 1 B in a voltage regulator or power controller included as part of the electronic circuitry of the needling machine.
• the needling machine may then be supplied power at the operational voltage, and at step 1C, the electronic circuitry may monitor the current drawn by the motor electrically connected to the voltage regulator or power controller. From that observed current, a baseline or average machine current may be established.
• Step 1 D of the method may include evaluating the baseline current and then categorizing the machine at steps 1 E or 1 F according to the machine’s baseline current.
• the method may include establishing a threshold current based on the baseline current and the give level, and storing the threshold current in memory.
• the method may proceed to the current evaluation stage 2000, which may include, at step 2, comparing the threshold current against the machine’s operational current. If the observed current is below the threshold current, then the method may proceed into voltage evaluation stage 3000 and more specifically to step 3A. If the observed current is not below the threshold current, the method may advance into voltage evaluation stage 3000, but, instead of advancing to step 3A, the method may advance to step 3B.
• the method may include comparing the operational voltage of the machine to the reference voltage.
• a second voltage evaluation occurs at step 3C, an upper voltage limiter
• the method may include determining whether the operational voltage is above the reference voltage (within the error range). If the operational voltage is not above the reference voltage, the method may proceed back to step 2 via return 100 without a change in the operational voltage. This is because the system including the machine is not experiencing an increase in current and is also at maximum voltage. But when the operational voltage is above the reference voltage, the method includes proceeding to voltage adjustment stage 4000, and step 4C more specifically.
• the method includes decreasing the operational voltage statically, and ensuring a return of the operational voltage subsequent to a series of increasing voltages at step 4D. From step 3A, whether the operational voltage is below the reference voltage, the method progresses into voltage adjustment stage 4000, and step 4A more particularly.
• the method may include having the circuitry set a ramp-down factor to a default value, and also set a ramp-up factor based on the number of times the method (or system) has consecutively iterated through to step 4A. Once the ramp-up factor is set, the method (and/or system) may include evaluating the increment in voltage based on the ramp-up factor and the then-existing operational voltage.
• the method may then include setting the new (higher) voltage in the voltage regulator or power controller and the method (and/or system) may return to step 2 of the current evaluation stage 2000.
• an alternative sequence from step 2 may result in a decrease in operational voltage.
• the method (and/or system) may include advancing into voltage evaluation stage 3000 at step 3B.
• Step 3B of the method may include evaluating whether the operational voltage is above the greater of two-thirds of the reference voltage or 4.5 volts.
• the method (and/or system) may proceed back to step 2 via return 300 without a change in the operational voltage because although there is an increase in current, the machine (and/or system including the machine) is operating at the lower voltage limit.
• the method may advance into voltage adjustment stage 4000.
• the method may include having the electronic circuitry set the ramp-up factor to a default value, and also set the ramp- down factor based on the number of times the method (and/or system) has consecutively iterated through to step 4B.
• the method (and/or system) may evaluate the decrement in voltage based on the ramp-down factor and the then-existing operational voltage.
• the method may then include setting the new (lesser) voltage in the voltage regulator or power controller and the method (and/or system) may return to step 2.
• the method may include having the circuitry continuously and dynamically adjust the operational voltage between the upper voltage limit and the lower voltage limit according to each observed machine current.
• hysteresis may be added to voltage adjustment stage 4000 by evaluating the value of the ramp-up factor or the ramp-down factor.
• an additional check on the value of the ramp factor can either advance the method (and/or system) to the voltage corresponding adjustment step (4D or4E) once a minimum number of iterations has occurred, or return to step 2.
• the method (and/or system) may require at least two iterations through the ramp-down loop before actually lowering the operational voltage.
• the method can prevent rapid oscillation of the operational voltage where the observed current continuously oscillates above and below the threshold current.
• other numbers of iterations through the ramp-down loop may also be specified as a trigger for lowering the operational voltage.
• FIGs. 4 and 5 graphical illustrations depict how the baseline of a machine (e.g. needling machine, tattoo machine, therapeutic machine, or other machine) can be determined from an irregular current waveform.
• a machine e.g. needling machine, tattoo machine, therapeutic machine, or other machine
• the current value may range, but it does so approximately sinusoidally.
• an averaging process with feedback shown only the fifth current variable, as an example
• the five current variables do not begin the averaging process with a specific value, but instead are either zero or null.
• the same iterative averaging process may establish a motor’s baseline current more rapidly with a starting bias value assigned to each of the current variables, as depicted in FIG. 5. Beginning the averaging process with a value of 85, the system achieves the baseline current after only about 18 observations across about 5 periods. In other embodiments, different beginning averaging process values may be utilized, which may result in varying numbers of observations for the system to achieve the baseline current.
• FIG. 6 illustrates such no-give conditions. As can be seen visually in FIG. 6, the current value over time does not have the type of sinusoidal patterns as shown in FIGs. 4 and 5, which involve utilizing electronic give adjustments.
• FIGs. 7, 8, and 9, on the otherhand depict howthe machine’s voltage may be adjusted in response to a change in current and in the context of varying give levels, which, for example, may range from zero to seven.
• give levels which, for example, may range from zero to seven.
• at give level zero there may not be a threshold current.
• the threshold current may decrease with each subsequent increase in give level up to give level seven.
• give level one may have a higher threshold current than the threshold currents for give levels two, three, four, five, six, and seven.
• Each figure depicts a baseline operating condition, showing oscillating observed machine current with a steady-state operational voltage until the observed machine current exceeds the threshold current, after which point the system responds by lowering the operational voltage slightly. Subsequent current observations above the threshold lead to an increasing degree of change of the operating voltage as the system lowers the power, but preventing the voltage from falling below the lower voltage limit.
• an embodiment of the present disclosure affects the operating voltage for the machine according to a give level of one.
• a give level of one may correspond to a “hard” give.
• the threshold current may be set considerably higher than the baseline current. Consequently, a larger increase in current is required to trigger the system and thereby lower the operational voltage.
• the system may recover the power up to the normal operating state by increasing the voltage to a greater and greater degree the longer the current is continuously below the threshold.
• FIG. 8 illustrates how an embodiment of the present disclosure affects the operating voltage according to a medium give level of four.
• give level four in FIG. 8 also shows how the operational voltage lower limit is lower than the limit provided with a give level set at one.
• the system may initially exceed the maximum voltage level slightly on the last voltage increase iteration, as shown in FIG. 8.
• the system may include an alternative monitoring process to ensure that the operational voltage returns to the maximum (reference) voltage.
• FIG. 9 depicts an embodiment of an even softer give level of seven.
• the graph in FIG. 9 depicts an even lower threshold current than the threshold currents utilized in FIGs. 7 and 8, which triggers a decrease in power more quickly than the embodiments of FIGs. 7 and 8 as the machine encounters resistance on a work surface, such as a user's skin.
• the system may increase the power more quickly than in other embodiments where the threshold current is higher than the embodiment of FIG. 9.
• the system may provide a smooth transition from a maximum power state to a decreasing power state, from a minimum power state to an increasing power state, and from an increasing power state back to the maximum power state.
• FIG. 10 illustrates operational states of the system, including steady voltage (whether at the maximum, minimum or middle voltage), decreasing voltage, and increasing voltage.
• FIG. 11 a table is provided, which illustrates an embodiment of the numerical relationship between a user-set reference voltage, a plurality of user-set give levels (settings) at a particular reference voltage, the baseline current for a particular initialization sequence, and the corresponding threshold resulting from the give level and baseline all for a single (the same) physical machine configuration.
• the control circuitry may not establish a threshold current since the voltage adjustment functionality provided by the circuitry does not operate while the system is set to have no give adjustment. However, at increasing give levels between 1 and 7, the corresponding threshold current (again, being dependent on the baseline current) may decrease.
• the baseline current established at each initialization stage may vary slightly from run-to-run.
• the error range of the baseline current, run- to-run should be within ⁇ 5% for stable operation of the system and usability across varying machines and setups.
• the baseline current may also increase.
• the data represented in the table of FIG. 11 is for illustrative purposes only, and the actual reference voltage suitable for a given machine or set up may vary from between about 3 volts to about 18 volts, depending on the power requirements and configuration of the motor and machine.
• FIG. 12 depicts an embodiment of a needle machine control system.
• the needle machine control system may be utilized to perform any of the operations of the methods described herein and any of the systems described herein.
• the needle machine control system may include a needling machine 801 and electronic control circuitry 812, which may include a battery 810 as the power source for the needle machine control system, a light emitting diode (LED) 742 to provide visual feedback about the state of the system to a user, one or more input buttons 732 to allow a user to adjust the reference voltage and give level stored in memory 710, a processor 720 that performs various operations for the needle machine control system, a voltage regulator 790 to control voltage provided from battery 810 to motor 820 contained within needling machine 801.
• LED light emitting diode
• the processor 720 may compute a baseline current of motor 820, and together with the give level may calculate a threshold current level, which is then stored in memory 710. In certain embodiments, processor 720 may analyze adjustments to be made to the operational voltage stored in voltage regulator 790 based upon the current drawn by the motor 820. In certain embodiments, the electronic control circuitry 812 may be detachably coupled to the needling machine 801 via an electronic connection 750.
• the battery 810 may be configured to be rechargeable, such as via a cable connected to a port of the electronic control circuitry 812.
• the battery 810 may be recharged via wireless charging as well and a state of the battery 810 may be indicated via one or more LEDs 742 of the needling machine control system. For example, in certain embodiments, if the battery level of the battery 810 is near depletion, then one or more LEDs 742 may turn red (or any other desired color, sequence of colors, and/or pattern of flashing light).
• the one or more LEDs may turn yellow (or any other desired color, sequence of colors, and/or pattern of flashing light). Still further, if the battery level of the battery 810 is within a threshold range of full power, then the one or more LEDs 742 may turn green (or any other desired color, sequence of colors, and/or pattern of flashing light).
• the one or more LEDs 742 may provide visual feedback about various states of the needling machine control system.
• the one or more LEDs 742 may provide states relating to the battery level of the battery 810.
• the one or more LEDs 742 may provide other states of the needling machine control system and/or the components of the needling machine control system.
• the one or more LEDs 742 may provide visual feedback indicating that the processor 720 is performing operations, visual feedback indicating that the memory 710 is storing data and/or instructions for the processor 720, visual feedback associated with adjustments of voltage conducted by the voltage regulator 790, visual feedback associated with activation of one or more of the input buttons 732, visual feedback associated with the operation of the motor 820 (e.g. amount of current drawn by the motor 820, an amount of exertion by the motor 820, whether the motor 820 is overheating, whether the motor 820 is failing, any other information associated with the motor 820, or a combination thereof).
• the input buttons 732 may be utilized to adjust the reference voltage for the needle machine control system and/or the give level for the needle machine control system. In additional embodiments, the input buttons 732 may also be utilized to adjust how the voltage regulator 790 controls voltage from the battery 810 to the motor 820.
• the input buttons 732 may be utilized to adjust how rapidly the voltage regulator 790 increases and/or decreases the voltage delivered from the battery 810 to the motor 820 and/or other components of the needle machine control system, when the voltage regulator 790 controls voltage from the battery 810 to the motor 820 and/or other components of the needle machine control system, how often the voltage regulator 790 controls the voltage from the battery 810 to the motor 820 and/or other components of the needle machine control system, under what conditions the voltage regulator 790 control the voltage from the battery 810 to the motor 820 and/or other components of the needle machine control system, and/or specify the current thresholds for triggering operation of the voltage regulator with respect to the various components of the needle machine control system.
• the input buttons 732 may also be utilized to control any of the other components of the needle machine control system including, but not limited to, the battery 810, the processor 720, the memory 710, the motor 820, the electronic circuitry 812, the needling machine 801 , or a combination thereof.
• a wireless needling machine 800 may be utilized for the needle machine control system.
• the wireless needling machine 800 may include a detachable combined battery 810, voltage regulator 790, and first communications device 782, which may be a first radio.
• An electrical connection 750 allows the electronic components to be removed from needling machine motor 820 and serve as a connection between the motor 820 and the detachable combined battery 810, voltage regulator 790, and/or first radio 782.
• Dynamic voltage control over needling machine 800 may be achieved by utilizing control unit 830, which may include a second communications device 781 (e.g. a second radio), a processor 720, and a memory 710.
• control unit 830 may evaluate the observed current, and may determine whether the operational voltage should be increased, decreased, or unchanged via processor 720 evaluating the observed current against a threshold current and reference voltage, which may both be stored in memory 710. An updated operational voltage may then be wirelessly communicated from control unit 830 to voltage regulator 790 via the first and second radios 781 and 782.
• control unit 830 may be a standalone device, however, in other embodiments, the control unit 830 may reside within or form a part of a smartphone, a smartwatch, a mobile device, a cellular device, a computer, a laptop, a tablet, a phablet, a headset, an loT device, a media device, any type of device, or a combination thereof.
• the battery 810 may provide power to the components of the wireless needling machine 800, such as but not limited to, the voltage regulator 790, the radio 782, the motor 820, and/or any other components of the needle machine control system.
• the battery 810 may be configured to be rechargeable and the needle machine control system may determine and output battery status information to a user of the needle machine control system.
• the voltage regulator 790 may be any type of suitable voltage regulator that may be utilized to monitor current drawn by the motor 820 and/or by other components of the needle machine control system.
• the first and second communications devices 782 and 781 may be any type of communications devices, including, but not limited to, transceivers, cellular antennas, wireless chips, Internet of Things (loT) devices, wireless modules, communications modules, any other type of communications device, or a combination thereof.
• status information associated with the first communications device 782 may be monitored by the control unit 830. For example, the control unit 830 may determine when the first communications device 782 is transmitting data, when the first communications device 782 is not transmitting data, when the first communications device 782 is ready to receive and/or transmit data, and/or whether the first communications device 782 is communicating with the second communications device 781 .
• control unit 830 may perform additional operations with respect to the needling machine 800 and/or other devices of the needling machine control system.
• control unit 830 may control the operation of the motor 820, provide instructions to the needling machine 800 indicating how much power to deliver to the components of the needling machine 800, adjust how the voltage regulator 790 regulates the delivery of power from the battery 810 to the motor 820 and/or first communications device 782 (and to other components of the needling machine 800), activate or deactivate any of the components of the needling machine 800, monitor each of the components of the needling machine 800, any other operations described in the present disclosure or otherwise, or a combination thereof.
• control unit 830 may track changes in the voltage and current over time for the needling machine 800, track battery level and other information associated with the battery 810, track the operation of the voltage regulator 790, and track the operations conducted and communications made by the first communications device 782.
• control unit 830 may compute a baseline current of motor 820 (and/or other components of the needling machine 800), and, utilizing with the selected give level, the control unit 830 may calculate a threshold current level.
• Each of the calculations and data generated based on the operations of the control unit 830 may be stored in memory 710.
• the processor 720 of the control unit 830 may analyze adjustments to be made to the operational voltage stored in voltage regulator 790 based upon the current drawn by the motor 820.
• the control unit 830 may also adjust the threshold currents utilized by the needle machine control system as triggers for conducting various operations of the needle machine control system as well.
• the needle machine control system may include a needling machine 801 , a control unit 830, and/or a peripheral device 890.
• a traditional needling machine 801 may be electrically coupled to and in electrical communication with the control unit 830, such as via wire 815.
• the needling machine 801 may be coupled to an in communication with the control unit 830, such as via a wireless connection.
• Control unit 830 may be powered from a power source 814, which may include either alternating current (e.g. wall power) or direct current (e.g. battery).
• control unit 830 may include a footswitch 880 for toggling power on and off to the needling machine 801 , or for other control functions assignable according to circuitry 700.
• Optional input buttons 732 and user interface 744 may be configured to accept a user-defined reference voltage at which needling machine 801 operates under normal conditions (without give adjustment), and a user-defined give level value, both of which may be stored in memory 710.
• User interface 744 may also continuously provide a user with feedback about the currently-selected give level, reference voltage, operating voltage, along with any other desired information associated with the needle machine control system.
• Such user feedback may explicitly display the values of the various parameters, or, in certain embodiments, the user interface may provide a simplified means of communicating the status of needling machine 801 and/or control unit 830, such as via color-coded light emitting diodes, and/or even haptic feedback delivered to needling machine 801 through pre-defined sequences of signals sent to motor 820 and/or a haptic device contained within machine 801.
• audible feedback and voice commands may also be provided via the user interface 744.
• Various combinations of visual, haptic, and/or audible means of communication between the control unit 830, needling machine 801 , and/or peripheral device 890 and a user are contemplated by the present disclosure.
• Radio 781 may communicatively link to and communicate wirelessly with peripheral device 890.
• the radio 781 may include and/or comprise a transceiver, a communications module, a communications chip, a cellular chip, a radio frequency device, any type of communications device, or a combination thereof.
• peripheral device 890 may consist of a cellular telephone 782, a tablet, a personal computer, a laptop, a smartwatch, an loT device, a phablet, a robotic device, any type of computing device, or a combination thereof.
• the radio 781 may be configured to receive data and instructions from the peripheral device 890, which may be utilized to control the needle machine 801 , components of the control unit 830, the footswitch 880, the needle cartridge 870, and/or any other components of the needle machine control system. Additionally, data generated by the needle machine 801 , the components of the control unit 830, the footswitch 880, the needle cartridge 870, and/or any other components of the needle machine control system may be provided to the peripheral device 890 for further analysis and to facilitate the determining of control instructions for controlling each of the components.
• the peripheral device 890 may also be utilized to set the conditions at which the needle machine 801 may operate, set the give level, set reference voltages, set operational voltages, set the amount power to be delivered to the components of the needle machine 801 , and/or any parameters of the needle machine control system.
• the memory 710 may receive and store the value of the user- selected give level and reference voltage via input 732, and store one or more machine current variables, the final baseline machine current value, and a threshold current value.
• Voltage regulator 790 may be configured to accept an operational voltage from the electronic circuitry 700, and control the flow of electricity from power source 814 to motor 820 through wire 815.
• Electronic circuitry 700 may initially assign the reference voltage to the voltage regulator 790, and allow the needling machine 801 to operate for a period of time. During that period of time, electronic circuitry 700 may monitor the current drawn by motor 820, and may establish the baseline machine current variable value and the threshold current value, and store both values in memory 710. In certain embodiments, the peripheral device 890 may perform and/or facilitate any of the operations conducted by the electronic circuitry 700.
• the motor 820 draws more current from power source 814 via control unit 830 to maintain the machine’s operation at the set operational voltage.
• the control unit 830 monitors the increase in current, and depending on the give level setting, adjusts the operational voltage provided to motor 820 through voltage regulator 790.
• Electronic circuitry 700 may continuously monitor the current drawn by motor 820, compare that current to the threshold current, compare the operational voltage to the reference voltage, and either increase, decrease, or maintain the operational voltage set in the voltage regulator 790.
• a needle machine control system is illustrated in FIG. 15, wherein the electronic circuitry 700, battery 810, and motor 820 may be housed within an integrated needling machine 802, and the components are in electrical communication with each other.
• the needling machine 802 may also include a power controller 792, a voltage regulator 790, one or more memories 710, User input interface 730 and charging port 816 may be provided on an exterior of needling machine 802 and may be in electrical communication with electronic circuitry 700.
• sensor 770 may be provided as part of electronic circuitry 700. The sensor 770 may be configured to monitor the electrical current drawn by motor 820 when the give adjustment circuitry is in operation.
• the senor 770 may be a single sensor, however, in other embodiments, the sensor 770 may include any number of sensors and/or any types of sensors.
• the sensor(s) 770 may include pressure sensors, temperature sensors, voltage sensors, current sensors, accelerometers, gyroscopes, light sensors, acoustic sensors, any type of sensors, or a combination thereof.
• the sensor 770 may be configured to monitor a temperature of the components of the needling machine 802, stress experienced by the components of the needling machine 802, the operational voltage within the needling machine 802 at any given time and/or over time, communications occurring within the needling machine 802 and/or between the needling machine 802 and other devices, data stored and/or removed from the memory 710, actions conducted by the power controller 792 and/or voltage regulator 790, inputs coming in via the input interface 730, performance of the motor 820, battery levels of the battery 810 (or other power source), communications made and/or received by the radio 781 , movements of the needling machine 802 and/or movements of a needle of a needle cartridge coupled to the needling machine 802, any information associated with the needling machine control system, or a combination thereof.
• Fig. 16 illustrates afurther embodiment of a needle machine control system, wherein the electronic circuitry 700 and motor 820 may be housed within an integrated needling machine 803, and in electrical communication with each other, as well as disconnect able power supply 811 , containing battery 810. Power supply 811 and integrated needling machine 803 are disconnectable and may be electrically coupled to each other through interface 752.
• electronic circuitry 700 contains processor 720 in electrical communication with memory 710, voltage regulator 790, input buttons 732, and light emitting diode 742. Voltage regulator 790 may be in electrical communication with power supply 811 , and may provide voltage to motor 820.
• FIG. 17 illustrates an embodiment of a needling machine control circuit700.
• the needling machine control circuit 700 may store a reference voltage and a give level in the memory 710, both of which may be set by a user, via an input interface linked to the needling machine control circuit 700, and/or by a remote device communicatively linked to the needling machine control circuit 700.
• the memory 710 may also store an absolute lower voltage limit.
• the needling machine control circuit 700 may sense and continuously monitor the current from sensor 770 when the needling machine control circuit 700 is supplying power from a power source to a needling device coupled to and/or in communication with the needling machine control circuit 700.
• the processor 720 may compute a baseline current and, in turn, compute a threshold current based on the give level, compute an alternative lower voltage limit based on the reference voltage, and compute adjustments to the operational voltage supplied to the voltage regulator 790 based on the observed current and operational voltage, while maintaining the operational voltage between the lower voltage limit and the reference voltage.
• the needling machine control circuit 700 may include any of the components and/or functionality described in the present disclosure
• FIG. 18 At least a portion of the methodologies and techniques described with respect to the exemplary embodiments of the needling machine control systems and/or needling machines can incorporate a machine, such as, but not limited to, computer system 1800, or other computing device within which a set of instructions, when executed, may cause the machine to perform any one or more of the methodologies or functions discussed above.
• the machine may be configured to facilitate various operations conducted by the needling machine control systems and/or needling machines.
• the machine may be configured to, but is not limited to, assist the needling machine control systems and/or needling machines by providing processing power to assist with processing loads experienced in the needling machine control systems and/or needling machines, by providing storage capacity for storing instructions or data traversing the needling machine control systems and/or needling machines, or by assisting with any other operations conducted by or within the needling machine control systems and/or needling machines.
• the machine may operate as a standalone device.
• the machine may be connected (e.g., using communications network 135, another network, or a combination thereof) to and assist with operations performed by other machines and systems, such as, but not limited to, electronic control circuitry 812, needling machine 801 , wireless needling machine 800, control unit 830, peripheral device 890, needling cartridge 870, power source 814, foot switch 880, needling machine 802, power controller 792, voltage regulator 790, processor 720, memory 710, sensors 770, integrated needling machine 803, disconnectable power supply 811 , electronic circuitry 700, any other system, program, and/or device, or any combination thereof.
• electronic control circuitry 812 needling machine 801 , wireless needling machine 800, control unit 830, peripheral device 890, needling cartridge 870, power source 814, foot switch 880, needling machine 802, power controller 792, voltage regulator 790, processor 720, memory 710, sensors 770, integrated needling machine 803, disconnectable power supply 811 , electronic
• the machine may be connected to any one or more components of the needling machine control systems described herein.
• the machine may operate in the capacity of a server or a client user machine in a server- client user network environment, or as a peer machine in a peer-to-peer (or distributed) network environment.
• the machine may comprise a server computer, a client user computer, a personal computer (PC), a tablet PC, a laptop computer, a desktop computer, a control system, a network router, switch or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that machine.
• PC personal computer
• tablet PC tablet PC
• laptop computer a laptop computer
• desktop computer a control system
• a network router, switch or bridge or any machine capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that machine.
• the term “machine” shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets)
• the computer system 1800 may include a processor 1802 (e.g., a central processing unit (CPU), a graphics processing unit (GPU, or both), a main memory 1804 and a static memory 1806, which communicate with each other via a bus 1808.
• the computer system 1800 may further include a video display unit 1810, which may be, but is not limited to, a liquid crystal display (LCD), a flat panel, a solid-state display, or a cathode ray tube (CRT).
• LCD liquid crystal display
• CRT cathode ray tube
• the computer system 1800 may include an input device 1812, such as, but not limited to, a keyboard, a cursor control device 1814, such as, but not limited to, a mouse, a disk drive unit 1816, a signal generation device 1818, such as, but not limited to, a speaker or remote control, and a network interface device 1820.
• an input device 1812 such as, but not limited to, a keyboard
• a cursor control device 1814 such as, but not limited to, a mouse
• a disk drive unit 1816 such as, but not limited to, a disk drive unit 1816
• a signal generation device 1818 such as, but not limited to, a speaker or remote control
• the disk drive unit 1816 may include a machine-readable medium 1822 on which is stored one or more sets of instructions 1824, such as, but not limited to, software embodying any one or more of the methodologies or functions described herein, including those methods illustrated above.
• the instructions 1824 may also reside, completely or at least partially, within the main memory 1804, the static memory 1806, or within the processor 1802, or a combination thereof, during execution thereof by the computer system 1800.
• the main memory 1804 and the processor 1802 also may constitute machine-readable media.
• Dedicated hardware implementations including, but not limited to, application specific integrated circuits, programmable logic arrays and other hardware devices can likewise be constructed to implement the methods described herein.
• Applications that may include the apparatus and systems of various embodiments broadly include a variety of electronic and computer systems. Some embodiments implement functions in two or more specific interconnected hardware modules or devices with related control and data signals communicated between and through the modules, or as portions of an application-specific integrated circuit.
• the example system is applicable to software, firmware, and hardware implementations.
• the methods described herein are intended for operation as software programs running on a computer processor.
• software implementations can include, but not limited to, distributed processing or component/object distributed processing, parallel processing, or virtual machine processing can also be constructed to implement the methods described herein.
• the present disclosure contemplates a machine-readable medium 1822 containing instructions 1824 so that a device (e.g. needling machines) connected to the communications network 1835, another network, or a combination thereof, can send or receive voice, video or data, and communicate over the communications network 1835, another network, or a combination thereof, using the instructions.
• the instructions 1824 may further be transmitted or received over the communications network 1835, another network, or a combination thereof, via the network interface device 1820.
• machine-readable medium 1822 is shown in an example embodiment to be a single medium, the term “machine-readable medium” should be taken to include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) that store the one or more sets of instructions.
• the term “machine-readable medium” shall also be taken to include any medium that is capable of storing, encoding or carrying a set of instructions for execution by the machine and that causes the machine to perform any one or more of the methodologies of the present disclosure.
• machine-readable medium shall accordingly be taken to include, but not be limited to: memory devices, solid-state memories such as a memory card or other package that houses one or more read-only (non-volatile) memories, random access memories, or other re-writable (volatile) memories; magneto-optical or optical medium such as a disk or tape; or other self-contained information archive or set of archives is considered a distribution medium equivalent to a tangible storage medium.
• the "machine-readable medium,” “machine-readable device,” or “computer-readable device” may be non- transitory, and, in certain embodiments, may not include a wave or signal per se. Accordingly, the disclosure is considered to include any one or more of a machine- readable medium or a distribution medium, as listed herein and including art-recognized equivalents and successor media, in which the software implementations herein are stored.

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